Abstract
TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots
Highlights
While serial mechanisms are very well supported by current robotic frameworks, parallel mechanisms and hybrid mechanisms especially are often not supported at all
TriP is a python package designed to close this gap using a modular modeling framework akin to the one described by Kumar et al (2020)
It allows the modeling of arbitrary hybrid mechanisms and is capable of calculating forward and inverse kinematics
Summary
Robots can be classified according to their mechanical structure. Serial mechanisms like robotic arms are mechanisms where each moving part (called a link) is connected to only the one before and the one after it. If both a large workspace and structural strength are required, hybrids that contain both serial and parallel mechanisms are used. While hybrid mechanisms combine the mechanical advantages of both parallel and serial mechanisms, they combine their modeling disadvantages: While serial mechanisms are very well supported by current robotic frameworks, parallel mechanisms and hybrid mechanisms especially are often not supported at all.
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